Contr Systems Ppt05p

Aula 05
Diagramas de blocos
& erro
Diagramas blocos & erro

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output
input
Bloco simples
Caixa preta
Black box

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Caixa preta ou Black box:
G (s)
output
input
Funo de Transferncia:
Y (s)
G (s) =
X (s)
ou:
Y (s ) = G (s ) X (s )
ou seja,
SADA =
F.T. X ENTRADA
combinao de blocos

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blocos em cascata
G1 (s)
G 2 (s)
a sada X(s) do primeiro bloco

a entrada do segundo.

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blocos em cascata
G1 (s)
G 2 (s)
logo,
X (s)
G 1 (s ) =
R (s)
Y (s)
G 2 (s) =
X (s)

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blocos em cascata
G1 (s)
ou seja,
SADA
G 2 (s)
= F.T. X ENTRADA
X (s) = G1 (s) R (s)
para o 1 bloco
Y (s) = G 2 (s) X (s)
para o 2 bloco
SADA
= F.T. X ENTRADA

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blocos em cascata
G1 (s)
G 2 (s)
portanto:
Y (s) = G1 (s) G 2 (s) R (s)
ou,
Y (s)
= G1 (s) G 2 (s)
R (s)

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blocos em cascata
G1 (s)
G 2 (s)
logo:
G1 (s) G 2 (s)

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blocos em cascata
G1 (s) G 2 (s)
e portanto:
G1 (s) G 2 (s)

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somador
Y (s) = A (s) + B(s) + C(s)

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detector de erros
E (s) = R (s) B(s)
realimentao
( feedback )

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realimentao ( feedback )
informao da sada Y(s) reintroduzida na entrada,

depois de comparar como sinal de referncia R(s).

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realimentao unitria
unit feedback
E (s) = R (s) Y (s)

Y (s) = G (s) E (s)

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realimentao unitria
unit feedback
E(s)
Y(s) = G(s) [ R(s) Y(s) ]

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realimentao unitria
unit feedback
Y(s) = G(s) R(s) G(s)Y(s)

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realimentao unitria
unit feedback
Y(s) [1 + G(s) ] = R(s)G(s)

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realimentao unitria
unit feedback
Y (s)
G (s)
=
R (s) 1 + G (s)

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realimentao (no unitria)

non unit feedback
Y (s)
G (s)
=
R (s) 1 + G (s) H (s)

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realimentao (no unitria)

non unit feedback
G (s)
1 + G (s) H(s)
Y (s)
G (s)
=
R (s) 1 + G (s) H (s)

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observe que a
realimentao unitria (ou, unit feedback)
corresponde a
realimentao no unitria
(ou, non unit feedback)
quando
H (s) = 1

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realimentao (unitria)
unit feedback
G (s)
1 + G (s) H(s)
H (s) = 1

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realimentao (unitria)
unit feedback
G (s)
1 + G (s)
Y (s )
R (s )
G (s)
1 + G (s )

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Exemplo 1:
5
G (s) =
s (s + 4)
5
Y (s)
G (s)
5
s (s + 4)
=
=
= 2
5
R (s)
1 + G (s )
s
+
4
s
+
5
1+
s (s + 4)

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Exemplo 2:
5
G (s) =
s (s + 4)
1
H (s) =
(s + 3)
5
Y (s )
G(s)
s (s + 4)
=
=
5
1
R (s )
1 + G(s)H(s)
1+
s (s + 4) (s + 3)

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Exemplo 2:
5
G (s) =
s (s + 4)
1
H (s) =
(s + 3)
Y (s)
5 (s + 3)
= 3
2
R (s)
(s + 7s + 12 s + 5)
realimentao tacomtrica

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K
(Js+ F)
tacmetro
sensor de posio
1
s
K1
K2
para servomotores com realimentao de velocidade

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K
(Js+ F)
tacmetro
sensor de posio
1
s
K1
K2
K
( Js + F )
G (s) =
KK1
1+
( Js + F )
G(s)

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G (s )
sensor de posio
1
s
K2
K
( Js + F )
G (s) =
KK1
1+
( Js + F )
G(s)

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G (s )
sensor de posio
K2
K
( Js + F )
G (s) =
KK1
1+
( Js + F )
1
s

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G (s )
sensor de posio
1
s
K2
K
K
( Js + F )
G (s) =
=
KK1
Js + F + KK1
1+
( Js + F )

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G (s )
K2
sensor de posio
G (s ) =
K
Js + F + KK1
1
s

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K
Js + F + KK1
K2
sensor de posio
G (s ) =
K
Js + F + KK1
1
s

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K
Js + F + KK1
sensor de posio
1
s
K2
K
1
Y (s)
Js + ( F + KK1 ) s
=
K
1
R(s)
1+
K2
Js + ( F + KK1 ) s

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K
K
Js + FF++KK
KK
11
sensor de posio
Y (s)
R (s)
1
s
K2
K
Js + ( F + KK1 )s + KK 2
2

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K
2
2
Js +
+ ((F
F+
+ KK
KK 1 ))ss +
KK 2
Js
+
KK
1
2
(outra forma de ver-se)

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K
(Js+ F)
tacmetro
sensor de posio
K1
K2
1
s

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K
(Js+ F)
tacmetro
sensor de posio
K1s
K2
1
s

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K
(Js+ F)
K1s
K2
K1s + K 2
1
s

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K
(Js+ F)
1
s
K1s + K2
K
1
Y (s)
(Js + F) s
=
K ( K1s + K 2 )
R (s)
1+
(Js + F) s

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K
(Js+ F)
1
s
K1s + K2
Y (s)
K
=
2
R (s)
Js + ( F + KK 1 )s + KK 2
que o mesmo resultado obtido anteriormente, mais acima.

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K
K
2
Js2 + (F + KK 1 )s + KK 2
Js + ( F + KK 1 )s + KK 2
Y (s)
K
=
2
R (s)
Js + ( F + KK 1 )s + KK 2
que o mesmo resultado obtido anteriormente, mais acima.
Erro

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Erro
realimentao unitria
E(s) = R(s) Y(s)

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Erro
realimentao no unitria
o erro
torna-se:
E(s) = R(s) B(s)

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ou seja:
B(s)
erro:
E(s) = R(s) Y(s)H(s)

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mas:
Y(s) = G(s) E(s)

Y(s)
logo:
E(s) = R(s) G(s)E(s)H(s)

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portanto:
E(s) [1 + G(s)H(s) ] = R(s)

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e a frmula do erro :
R(s)
E(s) =
[1 + G(s)H(s)]
Erro em estado estacionrio

Sada em estado estacionrio

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Teorema do Valor Inicial:
x (0) = lim x ( t ) = lim s X (s) (TVI)

t 0
Teorema do Valor Final:
x () = lim x ( t ) = lim s X (s) (TVF)

t
s0

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Teorema do Valor Inicial:
x (0) = lim s X (s)

s
(TVI)
Teorema do Valor Final:
x () = lim s X (s)
s0
(TVF)

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Exemplo 3:
Y (s) =
3s 2
s (s + 5)
TVI
TVF
y(0) = lim s Y (s)

s
= lim s
s
= lim
s
= 3
3s 2
s (s + 5)
3s 2
(s + 5)
y( ) = lim s Y (s)
s0
= lim s
s0
= lim
3s 2
s (s + 5)
3s 2
(s + 5)
= 2/5
s0

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Exemplo 4:
E (s) =
2s
s 4s + 3
2
TVI
e(0) = lim s E (s)

s
= lim
s
= 2
2s
s 4s + 3
2
TVF
e() = lim s E (s)
s0
= lim
s0
= 0
2 s2
s 4s + 3
2

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Erro em estado estacionrio:

(Steady state error):
ess = lim e(t)

t
ess = lim e(t) = lim s E(s)

t
s0
(TVF)
s R(s)
ess = lim s E(s) = lim
s 0
s0 [1 + G(s)H(s) ]

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Erro em estado estacionrio:

(Steady state error):
e ss = lim
s 0
s R (s)
[1 + G (s)H(s)]

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Sada em estado estacionrio:

(Steady state output):
y ss = lim y( t )
t
y ss = lim y( t ) = lim s Y (s)

t
Mas, ns
sabemos que
s0
(TVF)
Y (s)
G (s)
=
R (s)
1 + G (s) H (s)

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logo,
G (s )
Y (s) =
R (s )
[1 + G (s)H(s)]
y ss = lim s Y (s) =
s 0
G (s )
= lim s
R (s)
s 0
[1 + G (s)H(s)]

______________________________________________________________________________________________________________________________________________________________________________________

e portanto,
y ss
s G (s) R (s)
= lim s Y (s) = lim
s 0
s 0 [1 + G (s ) H (s ) ]
y ss
s G (s) R (s)
= lim
s 0 [1 + G (s ) H (s ) ]

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Exemplo 5:
2
G (s ) =
(s + 1)

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Exemplo 5:
(continuao)
2
( s + 1)
entrada r(t):
r ( t ) = u1 ( t )
r(t) = degrau unitrio
2
G (s ) =
(s + 1)

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Exemplo 5:
(continuao)
entrada r(t):
2
( s + 1)
r ( t ) = u1 ( t )
1
R (s ) =
s

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Exemplo 5:
(continuao)
1
R (s) =
s
2
( s + 1)
sada y(t)
G (s )
Y (s) =
R (s )
[1 + G (s)H(s)]
2
1
(s + 1)
=
2 s
1 + (s + 1)
2
=
s (s + 3)
sada em estado
estacionrio yss
(steady state output)
s 0
2
= lim s
s 0
s (s + 3)
= 2/3

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Exemplo 5:
(continuao)
2
( s + 1)

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Exemplo 5:
(continuao)
2
( s + 1)
yss = 2/3

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Exemplo 5:
1
(continuao) R (s) =
s
erro e(t)
R (s)
E (s ) =
[1 + G (s)H(s)]
1/ s
=
2
1 + (s + 1)
(s + 1)
=
s (s + 3)
2
( s + 1)
erro em estado
estacionrio ess
(steady state error)
e ss = lim s E (s) =
s0
(s + 1)
= lim s
s0
s (s + 3)
= 1/ 3

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Exemplo 5:
(continuao)
2
( s + 1)
ess = 1/3

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Exemplo 6:
Mas agora temos
K, chamado
controlador proporcional ou
controlador P
2
G (s ) =
(s + 1)
o mesmo do
exemplo anterior

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Exemplo 6:(continuao)
2
G (s ) =
(s + 1)

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2
(s + 1)
entrada r(t):
r ( t ) = u1 ( t )

(novamente)
2
G (s ) =
(s + 1)

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2
(s + 1)
2K
(s + 1)

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entrada r(t):
r ( t ) = u1 ( t )
2
(s + 1)
1
R (s ) =
s

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1
R (s ) =
s
2
(s + 1)
sada y(t)
G(s)
Y (s) =
R ( s ) Sada em estado
[1 + G ( s) H ( s)]
estacionrio yss
(Steady state output)
2K
1
( s + 1)
s0
2K s
2K
= lim s
1 + ( s + 1)
s0
s (s + 2K + 1)
2K
2K
=
=
(2K + 1)
s ( s + 2 K + 1)

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2
(s + 1)
sada em estado estacionrio yss (steady state output)

se K suficientemente grande
y ss
2K
=
1
( 2K + 1)
ou
y ss 1
quando

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2
(s + 1)

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2
(s + 1)
yss 1

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2
(s + 1)
1
R (s) =
s
erro e(t)
R (s)
E (s ) =
[1 + G (s)H(s)]
1/ s
=
2K
1 + (s + 1)
(s + 1)
=
s (s + 2K + 1)
erro em estado estacionrio

ess (steady state error)
s 0
(s + 1)
= lim s
s 0
s (s + 2K + 1)
1
=
( 2K + 1)

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2
(s + 1)
erro em estado estacionrio ess (steady state error)
se K suficientemente grande
e ss
1
=
0
(2K + 1)
ou
e ss 0
quando

______________________________________________________________________________________________________________________________________________________________________________________
2
(s + 1)
ess 0

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2
(s + 1)
qual o valor que deveramos ajustar o K para que o erro em

estado estacionrio (steady state error) seja
ess < 0,01

e ss
1
1
=
< 0,01 =
( 2K + 1)
100
K > 99 / 2
100 < ( 2K + 1)
K > 49,5
devemos escolher
K > 49,5

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Exemplo 7:
Usando
K/s, temos um
controlador integral ou
controlador I
2
G (s ) =
(s + 1)
o mesmo do
exemplo anterior

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Exemplo 7:
(continuao)
1
R (s) =
s
erro e(t)
R (s)
E (s ) =
[1 + G (s)H(s)]
1/ s
=
2K
1 + s (s + 1)
(s + 1)
=
(s 2 + s + 2 K )
erro em estado estacionrio

ess (steady state error)
s 0
(s + 1)
= lim s 2
s 0
(s + s + 2K )
= 0

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Exemplo 7:
(continuao)
Logo, agora possvel, por exemplo, ajustar o K para que o erro

em estado estacionrio (steady state error) seja
ess = 0
devemos escolher
K>0

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H vrios tipos de controladores
Usando
K1 + K2 s, temos um
controlador proporcional derivativo

ou controlador PD

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H vrios tipos de controladores
Usando
K1 + K2/s, temos um
controlador proporcional integral

ou controlador PI

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O caso mais geral o controlador PID
Usando
K1 + K2/s + K3s, temos um
controlador proporcional integral derivativo

ou controlador PID
Obrigado!
Felippe de Souza
felippe@ubi.pt

Contr Systems Ppt05p

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Aula 05

Diagramas blocos & erro

Diagramas blocos & erro

Caixa preta ou Black box:

Diagramas blocos & erro

a sada X(s) do primeiro bloco

Diagramas blocos & erro

Diagramas blocos & erro

X (s) = G1 (s) R (s)

Y (s) = G 2 (s) X (s)

Diagramas blocos & erro

Y (s) = G1 (s) G 2 (s) R (s)

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Y (s) = A (s) + B(s) + C(s)

Diagramas blocos & erro

E (s) = R (s) B(s)

Diagramas blocos & erro

informao da sada Y(s) reintroduzida na entrada,

Diagramas blocos & erro

E (s) = R (s) Y (s)

Diagramas blocos & erro

Y(s) = G(s) [ R(s) Y(s) ]

Diagramas blocos & erro

Y(s) = G(s) R(s) G(s)Y(s)

Diagramas blocos & erro

Y(s) [1 + G(s) ] = R(s)G(s)

Diagramas blocos & erro

Diagramas blocos & erro

realimentao (no unitria)

Diagramas blocos & erro

realimentao (no unitria)

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

para servomotores com realimentao de velocidade

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

Diagramas blocos & erro

E(s) = R(s) Y(s)

Diagramas blocos & erro

E(s) = R(s) B(s)

Diagramas blocos & erro

E(s) = R(s) Y(s)H(s)

Diagramas blocos & erro

Y(s) = G(s) E(s)